Coordinated Position and Attitude Control Method of Tethered Space Robot

Tethered Space Robot (TSR) is a new kind of space robot, which consists of robot platform, space tether and operational robot. This paper introduces the task of TSR, and it proposes coordinated position and attitude control method in order to save thruster fuel of operational robot for approaching the target. First, the linear quadratic regulator (LQR) controller calculates the traditional position control force of the operational robot. Then the optimization and distribution model of position control force is established, and the LQR control force is distributed to space tether and thrusters. Simultaneously, the relative attitude of the operational robot is stabilized using corresponding coordinated attitude stability strategy through the reaction wheels. Numerical results are presented, demonstrating the validity of saving thruster fuel and well performance for approaching the target.